CN218110815U

CN218110815U - Servo tong

Info

Publication number: CN218110815U
Application number: CN202220473168.4U
Authority: CN
Inventors: 陈丽兵
Original assignee: Suzhou Full Crown Intelligent Technology Co ltd
Current assignee: Suzhou Full Crown Intelligent Technology Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-12-23
Anticipated expiration: 2032-03-04

Abstract

The utility model provides a servo tong, which comprises a base plate, wherein a motor is arranged on one side of the base plate, an output shaft of the motor is connected with an input shaft of a servo speed reducer, an output shaft of the servo speed reducer is in transmission connection with a central shaft, the central shaft is connected with an input shaft of a clutch, the output shaft of the clutch downwards passes through the base plate to be connected with a gear, clamping jaw racks are uniformly distributed in the circumferential direction of the gear, and the clamping jaw racks are meshed with the gear; the clamping jaw rack is fixedly connected with the head grabbing plate, and the top of the head grabbing plate is connected with a sliding block and is connected below the base plate in a sliding manner through the sliding block; the bottom of the grabbing plate is connected with a clamping jaw arm, and an air bag is arranged on the inner side of the clamping jaw arm. In the structure of the utility model, the motor is adopted to control the clamping jaw arm to complete the clamping and loosening actions, the structure is compact, and the occupied space of the servo clamping hand is reduced; clamping jaw arm inboard is equipped with the gasbag, and the gasbag can adapt to the object shape and increase clamping stability, causes the injury to the object when can also avoiding the centre gripping object.

Description

Servo tong

Technical Field

The utility model belongs to the technical field of servo manipulator, in particular to servo tong.

Background

The multi-degree-of-freedom mechanical arm is an automatic production device which can imitate the functions of a human body limb part and can automatically control the human body limb part so as to enable the human body limb part to convey workpieces or hold tools to carry out production operation according to preset requirements. The hydraulic manipulator adopts hydraulic power, applies electro-hydraulic servo control, has the advantages of flexible action, high load rigidity, high precision, high response speed and high power-weight ratio, and is suitable for occasions of carrying high-power loads.

Although the existing servo manipulator can finish complex clamping flow actions, the structure of the existing servo manipulator occupies a large space, and a single servo clamping hand cannot clamp objects in different shapes, and even if the servo manipulator can be used reluctantly, the servo manipulator cannot adapt to the shapes of the objects to ensure the clamping stability.

How to design a servo tong, how to optimize the structure of servo tong, increase the application scope of servo tong and guarantee the stability of centre gripping, become the problem that the solution is badly needed.

SUMMERY OF THE UTILITY MODEL

In view of the above prior art's shortcoming, the utility model aims to provide a servo tong for solve among the prior art servo tong can't adapt to the problem that the object shape guaranteed the clamping stability.

In order to achieve the purpose, the utility model provides a servo tong, which comprises a base plate, wherein a motor is arranged on one side of the base plate, an output shaft of the motor is connected with an input shaft of a servo speed reducer, an output shaft of the servo speed reducer is in transmission connection with a central shaft, the central shaft is connected with an input shaft of a clutch, the output shaft of the clutch downwards penetrates through the base plate and is connected with a gear, clamping jaw racks are uniformly distributed in the circumferential direction of the gear, and the clamping jaw racks are meshed with the gear;

the clamping jaw rack is fixedly connected with the head grabbing plate, and the top of the head grabbing plate is connected with a sliding block and is connected below the base plate in a sliding manner through the sliding block;

the bottom of the claw plate is connected with a claw clamping arm, and an air bag is arranged on the inner side of the claw clamping arm;

by adopting the technical scheme: after the motor is started and is decelerated by the servo reducer, power is transmitted to the central shaft, so that the central shaft is driven to rotate, the central shaft rotates to drive the input shaft of the clutch to rotate, the input shaft of the clutch drives the output shaft to rotate after the clutch is closed, so that the gear connected with the output shaft is driven to rotate, after the gear rotates, the clamping jaw rack converts the rotating force of the gear into the moving force of the clamping jaw plates, so that the clamping jaw plates are driven to move, and when the plurality of clamping jaw plates move relatively or relatively, the clamping jaw arms at the bottom can complete the action of clamping or loosening an object; the relative or opposite actions of the plurality of the head plates can be controlled by controlling the motor, the structure is compact, and the integral volume of the servo gripper is reduced; the rotation precision of the control gear is increased by arranging the clutch, so that the control precision of the servo gripper is increased; through the inboard at the clamping jaw arm set up the gasbag, swell when carrying out the centre gripping operation, the gasbag can be earlier one step and object contact, except can adapting to the object shape increase clamping stability, can also avoid causing the injury to the object when centre gripping object.

In an embodiment of the present invention, a top plate is disposed directly above the substrate, and a camera is connected to one side of the top plate, which extends out of the substrate through a first support, and faces downward;

by adopting the technical scheme: the top plate provides a connecting surface when the servo clamping jaw is connected with the mechanical arm, and meanwhile, a space formed between the top plate and the base plate can protect the clutch; the position of object can be gathered to the camera to it is accurate to cooperate the controller to guarantee clamping position.

In an embodiment of the present invention, a supporting plate is installed on the upper side of the base plate, and the top plate is connected to the upper side of the base plate through the supporting plate;

by adopting the technical scheme: the installation space of the clutch is formed among the top plate, the supporting plate and the base plate, and the clutch can be protected.

In an embodiment of the present invention, a second stopper is disposed on the supporting plate, the second stopper is connected to a latch, and the latch is connected to the clutch;

by adopting the technical scheme: the position of the clutch is fixed.

In an embodiment of the present invention, a protection bracket assembly is connected to a lower side of the servo reducer, a first synchronizing wheel is connected to an output shaft of the servo reducer, a second synchronizing wheel is connected to the central shaft, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt transmission;

by adopting the technical scheme: the protective bracket assembly can prevent an object from contacting with the servo speed reducer and the upper structure of the servo speed reducer, and prevent the servo tong from colliding with the object to cause damage to the tong structure; the output shaft of the servo speed reducer is in transmission connection with the central shaft through the matching of the first synchronizing wheel, the second synchronizing wheel and the synchronous belt.

In an embodiment of the present invention, a tensioning bracket is disposed between the servo reducer and the substrate;

by adopting the technical scheme: the distance between servo speed reducer and the base plate can be adjusted to the tensioning support to the elasticity degree of adjustment upper portion hold-in range.

In an embodiment of the present invention, a second elastic collar is sleeved on the input shaft of the clutch, a rolling bearing is sleeved on the output shaft of the clutch, the rolling bearing is located on the upper side of the gear, and a first elastic collar is sleeved on the output shaft of the clutch between the rolling bearing and the gear;

by adopting the technical scheme: the second elastic retainer ring on the input shaft of the clutch can avoid the damage caused by the collision between the second synchronous wheel connected with the input shaft and the clutch; the rolling bearing can increase the rotation stability of the clutch output shaft; the first elastic retainer ring can avoid the rolling bearing from colliding with the gear to cause damage.

In an embodiment of the present invention, three clamping jaw racks are uniformly distributed along the circumferential direction of the gear, and a first stop block is arranged on one side of the clamping jaw rack opposite to the meshing gear, and the first stop block is installed at the bottom of the substrate;

by adopting the technical scheme: the three-way clamping can adapt to objects in different shapes and can adapt to the clamping of various objects; the first stop dog can guarantee that the clamping jaw rack is meshed with the gear, and the stability of meshing transmission is guaranteed.

In an embodiment of the present invention, a second bracket is disposed on one side of the head plate, the second bracket extends upward into a third bracket, the third bracket is mounted on the top of the base plate, and photoelectric switches are uniformly disposed on the third bracket along the moving direction of the second bracket;

by adopting the technical scheme: the second support can move along with grabbing the head board, and the second support removes the condition at the inside removal in-process of third support by photoelectric switch monitoring to direct control clamping process stops, accomplishes accurate control with this, also can adapt to the clamping control of different volume objects through adjustment photoelectric switch's position.

In an embodiment of the present invention, the bottom end of the gripper arm is connected to a guide head;

by adopting the technical scheme: the guide head has a guide effect and a protection effect, can finish clamping in a certain error state, and can also avoid damage to the surface of an object caused by direct contact of the clamping jaw arm and the object.

Advantageous effects

In the structure of the utility model, the motor is adopted to control the clamping jaw arm to complete the clamping and loosening actions, the structure is compact, and the occupied space of the servo clamping hand is reduced; the clutch is arranged to increase the rotation precision of the control gear, so that the control precision of the servo clamping hand is increased, and high-precision clamping and loosening actions are completed; the air bag is arranged on the inner side of the clamping jaw arm, can adapt to the shape of an object to increase the clamping stability, and can also avoid damage to the object when the object is clamped; the popularization and the application have good economic benefit and social benefit.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a side sectional view of the present invention.

Fig. 3 is a bottom sectional view of the present invention.

In the figure: 1. a photoelectric switch; 2. a protective bracket assembly; 3. a camera; 4. a first circlip; 5. a second circlip; 6. a rolling bearing; 7. a servo reducer; 8. a first bracket; 9. a top plate; 10. a central shaft; 11. a grasping plate; 12. a gripper arm; 13. a jaw rack; 14. a first stopper; 15. a bayonet lock; 16. a second stopper; 17. a support plate; 18. tensioning the bracket; 19. a second bracket; 20. a third support; 21. a guide head; 22. a slider; 23. a motor; 24. a synchronous belt; 25. a first synchronizing wheel; 26. a second synchronizing wheel; 27. a gear; 28. a clutch; 29. an air bag; 30. a substrate.

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

Please refer to fig. 1 to 3. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. In addition, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description only, and are not used to limit the scope of the present invention, and the relative relationship between the terms may be changed or adjusted without substantial technical changes.

As shown in fig. 1-3, the utility model provides a servo tong, including base plate 30, one side of base plate 30 is equipped with motor 23, and motor 23's output shaft and servo speed reducer 7's input shaft, and servo speed reducer 7's output shaft and center pin 10 transmission are connected, and center pin 10 is connected with clutch 28's input shaft, and clutch 28's output shaft passes base plate 30 downwards and is connected with gear 27, and gear 27's circumference has evenly laid clamping jaw rack 13, and clamping jaw rack 13 and gear 27 meshing. By adopting the technical scheme: after the motor 23 is started and decelerated by the servo reducer 7, power is transmitted to the central shaft 10, so that the central shaft 10 is driven to rotate, the central shaft 10 rotates to drive the input shaft of the clutch 28 to rotate, after the clutch is closed, the clutch input shaft drives the output shaft to rotate, so that the gear 27 connected with the output shaft is driven to rotate, the gear 27 can drive the clamping jaw rack 13 to move after rotating, and the premise is provided for the clamping jaw arm 12 to complete clamping and loosening actions.

A top plate 9 is arranged right above the base plate 30, and one side of the top plate 9 extends out of the base plate 30 through a first support 8 and is connected with a camera 3 downwards; by adopting the technical scheme: the top plate 9 provides a connection surface when the servo clamping jaw is connected with the mechanical arm, and meanwhile, the space formed between the top plate 9 and the base plate 30 can provide protection for the clutch 28; the position of object can be gathered to camera 3 to it is accurate to cooperate the controller to guarantee clamping position.

Further, a supporting plate 17 is mounted on the upper side of the base plate 30, and the top plate 9 is connected above the base plate 30 through the supporting plate 17; by adopting the technical scheme: the clutch 28 can also be protected by forming a mounting space for the clutch 28 between the top plate 9, the support plate 17 and the base plate 30.

Furthermore, a second stop 16 is arranged on the supporting plate 17, the second stop 16 is clamped with the clamping pin 15, and the clamping pin 15 is connected to the clutch 28. By adopting the technical scheme: the position of the clutch 28 is fixed.

The lower side of the servo speed reducer 7 is connected with the protective bracket assembly 2, the output shaft of the servo speed reducer 7 is connected with a first synchronizing wheel 25, the central shaft 10 is connected with a second synchronizing wheel 26, and the first synchronizing wheel 25 and the second synchronizing wheel 26 are in transmission connection through a synchronous belt 24; by adopting the technical scheme: the protective bracket assembly 2 can prevent an object from contacting the servo speed reducer 7 and the upper structure of the servo speed reducer 7, and prevent the servo gripper from colliding with the object to damage the gripper structure; the transmission connection between the output shaft of the servo reducer 7 and the central shaft 10 is realized through the matching of the first synchronous wheel 25, the second synchronous wheel 26 and the synchronous belt 24.

Further, a tension bracket 18 is provided between the servo reducer 7 and the base plate 30. By adopting the technical scheme: the tension bracket 18 can adjust the distance between the servo reducer 7 and the base plate 30, thereby adjusting the tightness of the upper synchronous belt 24.

The second elastic retainer ring 5 is sleeved on an input shaft of the clutch 28, the rolling bearing 6 is sleeved on an output shaft of the clutch 28, the rolling bearing 6 is positioned on the upper side of the gear 27, and the first elastic retainer ring 4 is sleeved on the output shaft of the clutch 28 between the rolling bearing 6 and the gear 27. By adopting the technical scheme: the second elastic retainer ring 5 on the input shaft of the clutch 28 can avoid the second synchronous wheel 26 connected on the input shaft from colliding with the clutch 28 to cause damage; the rolling bearing 6 can increase the rotational stability of the output shaft of the clutch 28; the first elastic retainer ring 4 can prevent the rolling bearing 6 from colliding with the gear 27 to cause damage.

Three clamping jaw racks 13 are uniformly distributed along the circumferential direction of the gear 27, a first stop block 14 is arranged on one side, opposite to the meshing gear 27, of each clamping jaw rack 13, and the first stop blocks 14 are installed at the bottom of the base plate 30. By adopting the technical scheme: the three-way clamping can adapt to objects in different shapes and can adapt to the clamping of various objects; the first stop 14 can ensure that the clamping jaw rack 13 is meshed with the gear 27, and ensure the stability of meshing transmission.

The clamping jaw rack 13 is fixedly connected with the head plate 11, and the top of the head plate 11 is connected with a sliding block 22 and is connected below the base plate 30 in a sliding manner through the sliding block 22; by adopting the technical scheme: the jaw rack 13 can drive the head plate 11 to move, and the head plate 11 can stably slide on the bottom of the base plate 30 under the action of the sliding block 22.

Furthermore, a second support 19 is arranged on one side of the head grabbing plate 11, the second support 19 extends upwards to the inside of a third support 20, the third support 20 is installed at the top of the base plate 30, and photoelectric switches 1 are uniformly arranged on the third support 20 along the moving direction of the second support 19. By adopting the technical scheme: the second support 19 can move along with the head board 11, and the second support 19 is in the inside removal in-process of third support 20, is monitored by photoelectric switch 1 and removes the condition to directly control the clamping process and stop, accomplish accurate control with this, also can adapt to the clamping control of different volume objects through the position of adjusting photoelectric switch 1.

The bottom of the gripper plate 11 is connected with a gripper arm 12, and the inner side of the gripper arm 12 is provided with an air bag 29; by providing the air bag 29 on the inner side of the gripper arm 12, the air bag 29 is raised when the gripping operation is performed, and the air bag 29 is brought into contact with the object first, so that the gripping stability can be improved by adapting to the shape of the object, and the object can be prevented from being damaged when the object is gripped.

Further, a guide head 21 is connected to the bottom end of the gripper arm 12. By adopting the technical scheme: the guide head 21 has a guiding function and a protecting function, can complete clamping in a certain error state, and can also avoid damage to the surface of an object caused by direct contact of the clamping jaw arm 12 and the object.

In the specific implementation, when clamping operation is carried out: after the motor 23 starts rotating in the positive direction and is decelerated by the servo reducer 7, power is transmitted to the central shaft 10, so that the central shaft 10 is driven to rotate, the central shaft 10 rotates to drive the input shaft of the clutch 28 to rotate, after the clutch 28 is closed, the input shaft of the clutch 28 drives the output shaft to rotate, so that the gear 27 connected with the output shaft is driven to rotate, after the gear 27 rotates, the clamping jaw rack 13 converts the rotating force of the gear 27 into the moving force of the clamping jaw plates 11, so that the clamping jaw plates 11 are driven to move in the opposite direction, the clamping jaw arms 12 at the bottom can move in the opposite direction when the plurality of clamping jaw plates 11 move in the opposite direction, meanwhile, the air bag 29 on the clamping jaw arms 12 is inflated, the air bag 29 is expanded to be contacted with an object in one step, and the clamping process is completed after the object is clamped; accomplish the transportation that servo tong carried the object by the arm, clutch 28 is in the detached state in the transportation, and the object transports and unclamps the action after the assigned position: after the motor 23 is started in a reverse rotation mode and is decelerated through the servo reducer 7, power is transmitted to the central shaft 10, the central shaft 10 is driven to rotate, the central shaft 10 rotates to drive the input shaft of the clutch 28 to rotate, after the clutch 28 is closed, the input shaft of the clutch 28 drives the output shaft to rotate, the gear 27 connected with the output shaft is driven to rotate, after the gear 27 rotates, the rotating force of the gear 27 is converted into the moving force of the grasping plate 11 through the clamping jaw rack 13, the grasping plate 11 is driven to move in a reverse direction, the clamping jaw arms 12 at the bottom can move in a reverse direction when the grasping plates 11 move in a reverse direction, clamped objects are loosened, and the process of transferring the objects is completed.

In summary, the utility model provides a servo gripper, which adopts the motor 23 to control the gripper arms 12 to complete the clamping and loosening actions, has compact structure, and reduces the space occupied by the servo gripper; the clutch 28 is arranged to increase the rotation precision of the control gear 27, so that the control precision of the servo clamping hand is increased, and high-precision clamping and loosening actions are completed; the air bag 29 is arranged on the inner side of the clamping claw arm 12, the air bag 29 can adapt to the shape of an object to increase the clamping stability, and the object can be prevented from being damaged when being clamped; the popularization and the application have good economic benefit and social benefit. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the claims of the present invention.

Claims

1. A servo gripper comprising a base plate (30), characterized in that: a motor (23) is arranged on one side of the base plate (30), an output shaft of the motor (23) is connected with an input shaft of a servo speed reducer (7), an output shaft of the servo speed reducer (7) is in transmission connection with a central shaft (10), the central shaft (10) is connected with an input shaft of a clutch (28), the output shaft of the clutch (28) downwards penetrates through the base plate (30) to be connected with a gear (27), clamping jaw racks (13) are uniformly distributed in the circumferential direction of the gear (27), and the clamping jaw racks (13) are meshed with the gear (27);

the clamping jaw rack (13) is fixedly connected with a head grabbing plate (11), the top of the head grabbing plate (11) is connected with a sliding block (22) and is connected below a base plate (30) in a sliding mode through the sliding block (22);

the bottom of the grabbing plate (11) is connected with a clamping jaw arm (12), and an air bag (29) is arranged on the inner side of the clamping jaw arm (12).

2. A servo gripper according to claim 1, wherein: a top plate (9) is arranged right above the base plate (30), and one side of the top plate (9) extends out of the base plate (30) through a first support (8) and is connected with a camera (3) downwards.

3. A servo gripper according to claim 2, wherein: the support plate (17) is installed to the upside of base plate (30), roof (9) pass through support plate (17) and connect the top at base plate (30).

4. A servo gripper according to claim 3, wherein: the clutch is characterized in that a second stop block (16) is arranged on the supporting plate (17), the second stop block (16) is connected with a clamping pin (15), and the clamping pin (15) is connected to a clutch (28).

5. A servo gripper according to claim 1, wherein: the downside of servo speed reducer (7) is connected with protection bracket subassembly (2), the output shaft of servo speed reducer (7) is connected with first synchronizing wheel (25), be connected with second synchronizing wheel (26) on center pin (10), first synchronizing wheel (25) and second synchronizing wheel (26) pass through hold-in range (24) transmission and connect.

6. A servo gripper according to claim 1, wherein: and a tensioning support (18) is arranged between the servo speed reducer (7) and the base plate (30).

7. A servo gripper according to claim 1, wherein: the clutch is characterized in that a second elastic retainer ring (5) is sleeved on an input shaft of the clutch (28), a rolling bearing (6) is sleeved on an output shaft of the clutch (28), the rolling bearing (6) is located on the upper side of the gear (27), and a first elastic retainer ring (4) is sleeved on the output shaft of the clutch (28) between the rolling bearing (6) and the gear (27).

8. A servo gripper according to claim 1, wherein: the clamping jaw rack (13) is uniformly distributed with three parts along the circumferential direction of the gear (27), one side of the clamping jaw rack (13) back to the meshing gear (27) is provided with a first stop block (14), and the first stop block (14) is installed at the bottom of the base plate (30).

9. A servo gripper according to claim 1, wherein: the novel multifunctional electric screwdriver is characterized in that a second support (19) is arranged on one side of the grabbing plate (11), the second support (19) extends upwards to the inside of a third support (20), the third support (20) is installed at the top of the base plate (30), and photoelectric switches (1) are uniformly arranged on the third support (20) along the moving direction of the second support (19).

10. A servo gripper according to claim 1, wherein: the bottom end of the clamping claw arm (12) is connected with a guide head (21).